# global id
int32 gid 
# local id
int32 lid
geometry_msgs/PoseStamped pose
geometry_msgs/TwistStamped twist
DTLane dtlane
int32 change_flag
WaypointState wpstate

uint32 lane_id
uint32 left_lane_id
uint32 right_lane_id
uint32 stop_line_id
float32 cost
float32 time_cost

# Lane Direction
# FORWARD        = 0
# FORWARD_LEFT       = 1
# FORWARD_RIGHT      = 2
# BACKWARD        = 3 
# BACKWARD_LEFT      = 4
# BACKWARD_RIGHT    = 5
# STANDSTILL       = 6
uint32 direction